Homemade Cinnamon Rolls

Ingredients

• 2 3/4 cups all-purpose flour (plus more for dusting)
• 2 1/4 teaspoons instant yeast (or rapid-rise yeast)
• 1 teaspoon kosher salt
• 1/4 cup granulated sugar
• 2 tablespoons unsalted butter
• 1/2 cup water
• 1/4 cup whole milk
• 1 large egg
• 1/3 cup dark brown sugar
• 1/3 cup granulated sugar
• 2 tablespoons all-purpose flour
• 1 tablespoon ground cinnamon
• 6 tablespoons unsalted butter (softened to 67 to 70ºF (19 to 21ºC))
• 2 cups powdered sugar
• 1/4 cup whole milk (warmed to 80 to 100ºF (27 to 38ºC))
• 1 teaspoon vanilla extract
• 1 teaspoon lemon juice

Instructions

1. 1

   Mix the Dry Ingredients: Mix Dry Dough Ingredients - In the bowl of a stand mixer or large bowl, whisk together the flour, yeast, and salt. Set aside.

2. 2

   Warm the Butter & Milk: Warm Butter & Milk - In a medium microwave-safe bowl, combine the sugar, butter, water, and milk. Microwave on high power in 20-second intervals until it reaches 120 to 130°F (49 to 54°C), about 40 to 60 seconds. Let it cool if it gets too hot. Stir to combine.

3. 3

   Knead and Rest the Dough: Knead & Rest Dough - Add 1 large egg to the flour mixture. Use a spatula to gradually stir in the warm liquid mixture until a soft, sticky dough forms.Using the dough hook attachment of a stand mixer, mix on low speed (setting 2) until the dough becomes smooth and elastic, about 4 minutes. If not using a mixer, knead by hand on a lightly floured surface for about 5 minutes. Cover the dough with plastic wrap and rest on the counter for 10 minutes. Meanwhile, make the filling.

4. 4

   Make the Cinnamon Filling: Make the Filling - In a medium bowl, stir together the brown sugar, granulated sugar, flour, and cinnamon. Add 6 tablespoons of softened butter and mix until smooth and spreadable.

5. 5

   Roll Out the Dough: Roll Out Dough - On a lightly floured surface, roll out the dough into a 16 x 9-inch rectangle.

6. 6

   Spread on the Filling: Spread on Filling - Evenly spread the filling over the dough, leaving a 1⁄4-inch border on all sides. Tightly roll the dough into a 16-inch long log. Trim off a small piece of dough from each end. Cut the log into 12 even-sized pieces.

7. 7

   Let the Rolls Rise: Let Rolls Rise - Place the rolls in a lightly greased 9 x 13-inch baking dish, spaced out about 1⁄2-inch apart, 3 rolls per row. Leave about 1⁄2-inch of space along the edges of the pan. Cover with plastic wrap and allow to rise in a warm draft-free area or proofing box (see notes) until doubled in size, about 30 minutes.

8. 8

   Bake the Rolls: Bake - Adjust the oven rack to the lower-middle position. Heat to 375°F (191°C). Uncover and bake the rolls until lightly golden brown in color, about 15 to 17 minutes. Slightly cool the rolls for 10 minutes. Meanwhile, make the glaze.

9. 9

   Make the Vanilla Glaze: Make the Glaze - In a medium bowl, whisk the powdered sugar, warm milk, vanilla extract, and lemon juice until smooth. Drizzle glaze over the warm cinnamon rolls. Serve immediately.